Unverified Commit 3f4d9e85 authored by Justin Carpentier's avatar Justin Carpentier Committed by GitHub
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Merge pull request #915 from wxmerkt/topic/wxm-add-package.xml

Add package.xml
parents bc221926 0eb277d4
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<?xml version="1.0"?>
<package format="2">
<description>A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives.</description>
<!-- The maintainer listed here is for the ROS release to receive emails for the buildfarm.
Please check the repository URL for full list of authors and maintainers. -->
<maintainer email="justin.carpentier@inria.fr">Justin Carpentier</maintainer>
<maintainer email="wolfgang.merkt@ed.ac.uk">Wolfgang Merkt</maintainer>
<url type="website">https://github.com/stack-of-tasks/pinocchio</url>
<!-- The ROS-released HPP-FCL is not yet ready for use with Pinocchio out of the box (old version).
Additionally, as BUILD_WITH_COLLISION_SUPPORT is default OFF, the ROS buildfarm would not configure it proper either way. -->
<!-- <depend>hpp-fcl</depend> -->
......@@ -310,7 +310,7 @@ namespace pinocchio
/// \brief Vector of subtree mass. In other words, mass[j] is the mass of the subtree supported by joint \f$ j \f$. The element mass[0] corresponds to the total mass of the model.
std::vector<Scalar> mass;
/// \brief Jacobien of center of mass.
/// \brief Jacobian of center of mass.
/// \note This Jacobian maps the joint velocity vector to the velocity of the center of mass, expressed in the inertial frame. In other words, \f$ v_{\text{CoM}} = J_{\text{CoM}} \dot{q}\f$.
Matrix3x Jcom;
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